Wireless synchronous system, radio apparatuses, sensor devices, wireless synchronizing method, and computer-readable recording medium

ABSTRACT

A wireless synchronous system includes an apparatus and a sensor device. The apparatus has a radio communication unit for performing synchronous communication with an external apparatus. The apparatus generates a radio synchronizing signal having a predetermined cycle synchronized with the synchronous communication and determines a timing of controlling the apparatus based on the radio synchronizing signal. The sensor device has a radio communication unit for performing synchronous communication with the external apparatus. The sensor generates a radio synchronizing signal having a predetermined cycle being synchronized with the synchronous communication, obtains detection-data representing a state of the sensor device, and determines a timing of obtaining the detection-data in accordance with the radio synchronizing signal.

CROSS-REFERENCE TO RELATED APPLICATION

The present application is based upon and claims the benefit of priorityfrom the prior Japanese Patent Application No. 2012-147066, filed Jun.29, 2012, the entire contents of which are incorporated herein byreference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relate to a wireless synchronous system, radioapparatuses, sensor devices, a wireless synchronizing method, and anon-transitory computer-readable recording medium.

2. Description of the Related Art

Conventional techniques are known, which use plural high-speed camerassynchronized with each other for continuously shooting fast-movingphenomena such as blasts, crashes, combustions, shocks, discharge, andthe like. And also techniques are known, which use a video camera torecord images of an athlete for purpose of sport training (for instance,golf), and use sensor devices attached onto the athlete to detect andrecord data.

A technique is disclosed in Japanese Unexamined Patent Publication No.2009-296323, in which one master camera is connected to plural slavecameras, and a video synchronizing signal for a high-speed camera istransferred from the master camera to the plural slave cameras, wherebyplural high-speed cameras are brought into synchronization for shootingone object.

In the above disclosed technique, the master camera is provided with atiming controlling unit for establishing an accurate synchronizationamong the master camera and the plural slave cameras. The timingcontrolling unit uses a pulse signal to measure an actual delay along atransmitting path and corrects such delay based on the result of themeasurement. The technique is used for continuously shooting fast-movingphenomena such as blasts, crashes, combustions, shocks, discharge, andthe like, and belongs to a class of high-speed cameras for very specificbusiness use, which are capable of shooting at an extremely high rate ofa million frames per second.

Japanese Unexamined Patent Publication No. Hei07-289676 disclosesanother technique, which uses a video camera(s) to record an image ofthe athlete and a sensor device (s) attached on the athlete to detectand record sensor data for purpose of analysis of golf playing motion.

The technique disclosed in the latter publication consists of a videocamera(s) and a sensor device(s). The video camera has its own real timeclock, and records a video image as well as a time code based on a realtime counted by its own real time clock. Also, the sensor device has itsown real time clock, and measures and records sensor data (gripstrength) as well as time information based on a real time counted byits own real time clock. Then, both the information of the video cameraand the information of the sensor device are compared, and the sensordata is displayed, which corresponds to the time coincident to the timecode of the video image. As another example, the sensor device transfersa measured sensor signal by means of analog radio communication to anaudio input of the video camera for shooting a video image and the videocamera records the received sensor data together with the video image.

But the technique disclosed in Japanese Unexamined Patent PublicationNo. 2009-296323 requires users to prepare accurate and troublesomesettings before performing the shooting operation, such as calculating adelay time for correction by using a pulse signal. Therefore, thetechnique has a disadvantage that is hard for the consumer users to use.

The method of measuring a delay, using the pulse signal has anotherdisadvantage that an accurate measurement cannot be made because ofuncertain delays caused due to sampling and/or packet operations indigital radio transmission, when said method is used to measure a delayalong a radio transmission path.

An accurate delay along an analog transmission path can be measured, butcommunication only between one master apparatus and one slave apparatuscan be made along the analog transmission path. Therefore, the masterequipment is required to equip with the same number of radio units asnumber of slave apparatuses, which increases the system in scale andcosts, consuming much energy.

In the technique disclosed by Japanese Unexamined Patent Publication No.Hei07-289676, differences between the clocks of the respectiveapparatuses are large. The technique cannot be used for synchronousshooting by plural high-speed cameras. The technique has a problem thatsensor information cannot be obtained in synchronization with the imagesshot by the high-speed cameras. In the case where the analog radiotransmission is used, only one sort of sensor data can be recorded, andtherefore, the technique cannot be used for recording, for instance,three-dimensional data, X, Y, Z.

SUMMARY OF THE INVENTION

The present invention provides a wireless synchronous system, radioapparatuses, sensor devices, a wireless synchronizing method, and anon-transitory computer-readable recording medium for consumer use,which allow users to operate easily and make it possible with a highdegree of accuracy that synchronization of operations of pluralapparatuses is controlled and data is obtained by plural sensor devicesin synchronization with the operations of the plural apparatuses.

According to one aspect of the present invention, there is provided awireless synchronous system including plural apparatuses and pluralsensor devices, in which the plural apparatuses each comprise a firstcommunicating unit for performing synchronous communication with theother apparatus, a first radio synchronizing-signal generating unit forgenerating a first radio synchronizing signal having a predeterminedcycle, the predetermined cycle being synchronized with a timing of thesynchronous communication performed by the first communicating unit, asynchronizing-signal generating unit for generating a synchronizingsignal having a predetermined cycle, the predetermined cycle beingsynchronized with the first radio synchronizing signal generated by thefirst radio synchronizing-signal generating unit, and a controlling unitfor determining a controlling timing of controlling the apparatus inaccordance with the synchronizing signal generated by thesynchronizing-signal generating unit, and the plural sensor devices eachcomprise a second communicating unit for performing synchronouscommunication with at least one of the plural apparatuses, a secondradio synchronizing-signal generating unit for generating a second radiosynchronizing signal having a predetermined cycle, the predeterminedcycle being synchronized with a timing of the synchronous communicationperformed by the second communicating unit, a sensor unit for obtainingdetection-data representing a state of the sensor device, and adetection-data obtaining controlling unit for determining a timing, atwhich the sensor unit obtains the detection-data, in accordance with thesecond radio synchronizing signal generated by the second radiosynchronizing-signal generating unit.

According to other aspect of the invention, there is provided a wirelessapparatus, which comprises a communicating unit for performingsynchronous communication with other apparatus, a radiosynchronizing-signal generating unit for generating a radiosynchronizing signal having a predetermined cycle, the predeterminedcycle being synchronized with a timing of the synchronous communicationperformed by the communicating unit, a synchronizing-signal generatingunit for generating a synchronizing signal having a predetermined cycle,the predetermined cycle being synchronized with the radio synchronizingsignal generated by the radio synchronizing-signal generating unit, anda controlling unit for determining a controlling timing of controllingthe wireless apparatus in accordance with the synchronizing signalgenerated by the synchronizing-signal generating unit.

According to other aspect of the invention, there is provided a sensordevice, which comprises a communicating unit for performing synchronouscommunication with other wireless apparatus, a radiosynchronizing-signal generating unit for generating a radiosynchronizing signal having a predetermined cycle, the predeterminedcycle being synchronized with a timing of the synchronous communicationby the communicating unit, a sensor unit for obtaining detection-datarepresenting a state of the sensor device, and a detection-dataobtaining controlling unit for determining a timing, at which the sensorunit obtains the detection-data, in accordance with the radiosynchronizing signal generated by the radio synchronizing-signalgenerating unit.

According to still other aspect of the invention, there is provided amethod of implementing wireless synchronization among plural apparatusesand plural sensor devices, including a first synchronizing method ineach of the plural apparatuses and a second synchronizing method in eachof the plural sensor devices, wherein

the first synchronizing method in the apparatus comprises a firstcommunicating step of performing synchronous communication with theother apparatus, a first radio synchronizing-signal generating step ofgenerating a first radio synchronizing signal having a predeterminedcycle, the predetermined cycle being synchronized with a timing of thesynchronous communication at the first communicating step, asynchronizing-signal generating step of generating a synchronizingsignal having a predetermined cycle, the predetermined cycle beingsynchronized with the first radio synchronizing signal generated at thefirst radio synchronizing-signal generating step, and a controlling stepof determining a controlling timing of controlling the apparatus inaccordance with the synchronizing signal generated at thesynchronizing-signal generating step, and the second synchronizingmethod in the sensor device comprises a second communicating step ofperforming synchronous communication with at least one of the pluralapparatuses, a second radio synchronizing-signal generating step ofgenerating a second radio synchronizing signal having a predeterminedcycle, the predetermined cycle being synchronized with a timing of thesynchronous communication at the second communicating step, a sensorstep of obtaining detection-data representing a state of the sensordevice, and a detection-data obtaining controlling step of determining atiming, at which the sensor unit obtains the detection-data, inaccordance with the second radio synchronizing signal generated at thesecond radio synchronizing-signal generating step.

According to yet another aspect of the invention, there is provided anon-transitory computer-readable recording medium storing a computerprogram, the computer program, when installed on a computer provided onan apparatus, making the computer function as a communicating unit forperforming synchronous communication with other wireless apparatus, aradio synchronizing-signal generating unit for generating a radiosynchronizing signal having a predetermined cycle, the predeterminedcycle being synchronized with a timing of the synchronous communicationperformed by the communicating unit, a synchronizing-signal generatingunit for generating a synchronizing signal having a predetermined cycle,the predetermined cycle being synchronized with the radio synchronizingsignal generated by the radio synchronizing-signal generating unit, anda controlling unit for determining a controlling timing of controllingthe apparatus in accordance with the synchronizing signal generated bythe synchronizing-signal generating unit.

According to still another aspect of the invention, there is provided anon-transitory computer-readable recording medium storing a computerprogram, the computer program, when installed on a computer provided ona sensor device, making the computer function as a communicating unitfor performing synchronous communication with other wireless apparatus,a radio synchronizing-signal generating unit for generating a radiosynchronizing signal having a predetermined cycle, the predeterminedcycle being synchronized with a timing of the synchronous communicationperformed by the communicating unit, a sensor unit for obtainingdetection-data representing a state of the sensor device, and adetection-data obtaining controlling unit for determining a timing, atwhich the sensor unit obtains the detection-data, in accordance with theradio synchronizing signal generated by the radio synchronizing-signalgenerating unit.

The wireless synchronous system, radio apparatuses, sensor devices,wireless synchronizing method, and the computer-readable recordingmedium provided by the present invention allow the users to synchronizethe operations of plural apparatuses and obtain data using the pluralsensor devices in a simple manner with a high degree of accuracy.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a view for explaining a radio synchronization system accordingto the embodiment of the present invention.

FIG. 2 is a block diagram of a configuration of a high-speed cameraaccording to the present embodiment of the invention.

FIG. 3 is a block diagram of a configuration of a sensor deviceaccording to the present embodiment of the invention.

FIG. 4 is a block diagram of a configuration of a radio communicationunit used in the high-speed camera and sensor device according to thepresent embodiment of the invention.

FIG. 5a is a block diagram of a configuration of a sensor unit used inthe sensor device according to the embodiment of the invention.

FIG. 5b is a conceptual diagram for explaining relationships betweensensor data and operating directions of the sensor device.

FIG. 6 is a block diagram of a schematic configuration of the radiosynchronization system according to the present embodiment of theinvention.

FIG. 7 is a conceptual diagram for explaining a synchronous operation(synchronous shooting operation) between the plural high-speed camerasaccording to the present embodiment of the invention.

FIG. 8 is a conceptual diagram for explaining the synchronous operation(synchronous sensor-data collection) between the plural sensor devicesaccording to the present embodiment of the invention.

FIG. 9 is a conceptual diagram for explaining the synchronous operation(synchronous sensor-data collection) between the high-speed camera andthe sensor devices according to the present embodiment of the invention.

FIG. 10 is a conceptual diagram for explaining the synchronous operation(synchronous recording operation of pickup image and sensor data)between the high-speed cameras and the sensor devices according to thepresent embodiment of the invention.

FIG. 11 is a conceptual diagram for explaining the synchronous operation(synchronous playing-back operation) between the high-speed camerasaccording to the present embodiment of the invention.

FIG. 12 is a conceptual diagram for explaining the synchronous operation(synchronous playing-back operation of moving image and sensor data)between the high-speed cameras and the sensor devices according to thepresent embodiment of the invention.

FIGS. 13a and 13b are conceptual diagrams for explaining datasending/receiving operation between the radio communication unit of thehigh-speed camera and the radio communication unit of the otherhigh-speed camera according to the present embodiment of the invention.

FIG. 14 is a timing chart of data sending/receiving operation(continuous communication) performed between the radio communicationunit of the master apparatus or the high-speed camera and the radiocommunication unit of the slave apparatus or the other high-speed cameraaccording to the present embodiment of the invention.

FIG. 15 is a timing chart of data sending/receiving operation(intermittent operation) performed between the radio communication unitof the master apparatus or the high-speed camera and the radiocommunication unit of the slave apparatus or the other high-speed cameraaccording to the present embodiment of the invention.

FIG. 16 is a conceptual diagram for explaining the datasending/receiving operation performed between the radio communicationunits in the case of one master apparatus (high-speed camera) vs. “n”units of slave apparatuses (high-speed cameras).

FIG. 17 is a timing chart of the data sending/receiving operationperformed between the radio communication units in the case of onemaster apparatus (high-speed camera) vs. “n” units of slave apparatuses(high-speed cameras).

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Now, the embodiments of the present invention will be described withreference to the accompanying drawings in detail.

[Configuration of Radio Synchronization System]

FIG. 1 is a view for explaining a radio synchronization system accordingto the embodiment of the present invention. As shown in FIG. 1, theradio synchronization system 100 comprises plural high-speed cameras 101a, 101 b, 101 c, and plural sensor devices 103 a, 103 b. In the radiosynchronization system 100, the plural high-speed cameras 101 a, 101 b,101 c are wirelessly synchronized with each other for shooting an object102 at high speed and/or the plural sensor devices 103 a, 103 b areattached on the object 102 and wirelessly synchronized with each otherfor obtaining data (directions of movement and accelerations). Further,the plural high-speed cameras 101 a, 101 b, 101 c, and the plural sensordevices 103 a, 103 b are also wirelessly synchronized for shooting theobject 102 at high speed as well as obtaining sensor data insynchronization with the shooting operation.

The radio synchronization system 100 is effectively and widely used bymany athletes, including golfers, baseball players, and other sportplayers. The plural high-speed cameras 101 a, 101 b, 101 c are used totake pictures of the object (player) 102 to obtain images taken fromplural camera angles. Further, the plural sensor devices 103 a, 103 bare used to obtain sensor data taken from the player 102 and sensor datataken from equipment (game, gear and so on) used by the player 102.These images (pickup images) and sensor data are correlated with eachother and recorded. The recorded images and sensor data are used foranalyzing the player's motion such as a swinging form or motion andball-striking form. Hereinafter, sometimes the plural high-speed cameras101 a, 101 b, 101 c are collectively referred to as the “high-speedcameras” 101, and the plural sensor devices 103 a, 103 b are alsocollectively referred to as the “sensor devices” 103.

FIG. 2 is a block diagram showing a configuration of each of thehigh-speed cameras 101 according to the present embodiment of theinvention. As shown in FIG. 2, the high-speed cameras 101 each comprisean image pickup unit 201, an image processing unit 202, a displayingunit 203, a memory 204, HOST-CPU 205, an operating unit 206, RTC (RealTime Clock) 207, a radio communication unit 208, an antenna 209, a videosynchronizing signal generating unit 210, and a power unit 211.

The image pickup unit 201 is provided with an optical lens unit (notshown) and an image sensor (not shown). The optical lens unit consistsof collecting lenses, including a focus lens and a zoom lens for takinga picture. The focus lens serves to form an optical image of an objecton an acceptance surface of the image sensor. The zoom lens serves tochange a focusing distance freely within a predetermined range.

The image sensor consists of a photoelectric conversion element and AFE(Analog Front End). The photoelectric conversion element consists of,for example, an element of a CMOS (Complementary Metal OxideSemiconductor) type. The optical image of the object (player) 102 entersonto the photoelectric conversion element through the optical lens unit.The photoelectric conversion element performs various signal processeson the optical image of the object based on video synchronizing signals“VSYNC”, “HSYNC”, “VTRG”, thereby outputting digital image data. Thesignal processes include a photoelectric conversion process(image-pickup process) and A/D (Analog/Digital) conversion process.

The image processing unit 202 consists of DSP (Digital Signal Processor)and VRAM (Video Random Access Memory). The image processing unit 202cooperates with HOST-CPU 205 to perform various sorts of imageprocessing on the image data. For example, the image processing unit 202performs the image processing, including a noise-reduction process, awhite-balancing process and a camera-shake correcting process, on theimage data sent from the image pickup unit 201.

The displaying unit 203 has a liquid crystal displaying device fordisplaying various images thereon. The memory 204 is a sort of storingdevice, consisting of a non-volatile memory device, such as SD memorycards (Registered Trademark). The memory 204 serves to store the imagedata sent from the image processing unit 202. Further, the memory 204stores various sorts of data used in the processing performed by theimage processing unit 202. Furthermore, the memory 204 stores the sensordata of the sensor device 103 in synchronization with the image data.

HOST-CPU 205 runs a predetermined program to control operations of thevideo synchronizing signal generating unit 210, the image pickup unit201, the image processing unit 202, the displaying unit 203, and thememory 204, thereby performing various processes. At this time, HOST-CPU205 controls the operations of the respective units based on a radiosynchronizing signal “WSYNC” supplied from the radio communication unit208. The radio communication unit 208 is wirelessly connected with thecorresponding radio communication units provided in the other (“n” unitsof) high-speed cameras and synchronized with them by means of the radiosynchronous communication.

The radio synchronizing signal “WSYNC” is generated among otherhigh-speed cameras and sensor devices by means of the radio synchronouscommunication. Therefore, HOST-CPU 205 can make the high-speed camera101 a shoot a moving image (or high-speed continuous shooting) and/orplay back the moving image in synchronization with other high-speedcameras 101 b, 101 c. Similarly, HOST-CPU 205 can make the sensor device103 a obtain sensor data in synchronization with the other sensor device103 b. The radio synchronizing signal “WSYNC” will be described indetail later.

HOST-CPU 205 synchronizes a real time counted by RTC 207 with the radiosynchronizing signal “WSYNC”, thereby sharing the synchronized real timewith the other wirelessly connected high-speed cameras 101 b, 101 c andsensor devices 103. In other words, HOST-CPU 205 can record the pickupimage correlated with the synchronized real time, which is shared withthe other high-speed cameras 101 b, 101 c and the sensor devices 103.

When playing back the moving image, HOST-CPU 205 can playback based onthe radio synchronizing signal “WSYNC” supplied from the radiocommunication unit 208, the moving image, which has been shot insynchronization with the other high-speed cameras 101 b, 101 c and/orthe sensor device 100. More specifically, an image to be played backamong the sensor data recorded in the memory 204 and the sensor datarelated in time can be displayed simultaneously.

HOST-CPU 205 receives sensor data “DATA” from the sensor device 103through the radio communication unit 208, and correlates the sensor data“DATA” with the shot moving image to record them in the memory 204.

The operating unit 206 comprises various buttons including a shutterbutton. The operating unit 206 serves to receive a user's instruction.RTC 207 counts the real time. The radio communication unit 208 performsthe radio synchronous communication (existing communication method) withthe other high-speed cameras 101 b, 101 c and/or the sensor devices 103through the antenna 209, thereby exchanging data with them. Particularlyin the present embodiment, the radio communication unit 208 outputs theradio synchronizing signal “WSYNC”, which is synchronized with the radiosynchronizing signals generated by the corresponding (or “n” units of)radio communication units wirelessly connected with said radiocommunication unit 208.

The video synchronizing signal generating unit 210 generates the videosynchronizing signals “VSYNC”, “HSYNC”, “VTRG”, which are synchronizedwith the radio synchronizing signal “WSYNC”, and supplies the generatedsynchronizing signals to the image pickup unit 201, the image processingunit 202, and the displaying unit 203. The image pickup unit 201 obtainsa pickup image in accordance with the video synchronizing signals“VSYNC”, “HSYNC”, “VTRG”. Therefore, the image pickup unit 201 canobtain the pickup image synchronized with those obtained by thecorresponding (or “n” units of) image pickup units, which are wirelesslyconnected with said image pickup unit 201. The power unit 211 consistsof a secondary battery, and supplies power to various units within thehigh-speed cameras 101.

FIG. 3 is a block diagram of a configuration of the sensor device 103according to the present embodiment of the invention. As shown in FIG.3, the sensor device 103 comprises a sensor unit 301, HOST-CPU 302, RTC303, a memory 304, an operating unit 305, a power unit 306, a radiocommunication unit 308, and an antenna 309.

The sensor unit 301 consists of, for example, a three axialacceleration-sensor and a three axial gyro-sensor, which output thesensor data “DATA” at predetermined time intervals. HOST-CPU 302receives the sensor data “DATA” from the sensor unit 301 insynchronization with the radio synchronizing signal “WSYNC” of the radiocommunication unit 308, and stores the received sensor data “DATA” inthe memory 304. Similarly to those generated in the high-speed cameras101, the radio synchronizing signal “WSYNC” is also produced based onthe synchronous communication, among the other high-speed cameras 101and sensor devices 103 wirelessly connected through the radiosynchronous communication.

HOST-CPU 302 synchronizes the real time counted by RTC 303 with theradio synchronizing signal “WSYNC”, thereby sharing the synchronizedreal time with the other high-speed cameras 101 and sensor devices 103wirelessly connected with the camera 101 a. In other words, HOST-CPU 302can obtain and record the sensor data “DATA” correlated with the realtime, which is synchronized with the other high-speed cameras 101 andsensor devices 103.

Further, HOST-CPU 302 sends the sensor data “DATA” to the otherhigh-speed cameras 101 and sensor devices 103 in synchronization withthe radio synchronizing signal “WSYNC” of the radio communication unit308 through the radio communication unit 308.

RTC 303 counts the real time. The memory 304 is a sort of storing deviceand consists of a Flash memory. The memory 304 stores the sensor data“DATA” correlated with the real time and also various sorts of datanecessary in the processes to be performed by the HOST-CPU 302. Theoperating unit 305 comprises various buttons including a power button.The operating unit 305 serves to receive the user's instruction. Thepower unit 306 consists of a secondary battery, and supplies power tovarious units within the sensor device 103.

The radio communication unit 308 performs the radio synchronouscommunication with the other high-speed cameras 101 and/or the othersensor devices 103 through the antenna 309, thereby exchanging data withthem. Particularly in the present embodiment, similarly to the radiocommunication unit 208 in the high-speed camera 101, the radiocommunication unit 308 outputs the radio synchronizing signal “WSYNC”,which is synchronized with the radio synchronizing signals generated bythe corresponding (or “n” units of) radio communication units wirelesslyconnected with said radio communication unit 308.

FIG. 4 is a block diagram of a configuration of the radio communicationunit 208 according to the present embodiment of the invention. The radiocommunication unit 308 has the same configuration as the radiocommunication unit 208 and therefore the configuration thereof will notbe described separately. As shown in FIG. 4, the radio communicationunit 208 comprises BB (Base Band) unit 401, RF (Radio Frequency) unit402, a radio time generating unit 403, PLL (Phase Locked Loop) circuit404, RX timing extracting unit 405, TCXO (Temperature CompensatedCrystal Oscillator) 406, and a controlling unit 407. The radiocommunication units 208, 308 have a master mode and a slave mode.

BB unit 401 performs a process on an un-modulated base-band signal and amodulated base-band signal. RF unit 402 receives a radio frequencysignal through the antenna 209 (309), and modulates or demodulates thereceived radio frequency signal. Further, RF unit 402 supplies thereceived radio frequency signal to BB unit 401 and RX timing extractingunit 405. The radio time generating unit 403 operates in accordance with“PLL-CLK” supplied from PLL circuit 404, and has a timer of more thanseveral hours, counting the radio time and outputting the counted radiotime “WTIME”.

For instance, when it is presumed that the timer of the radio timegenerating unit 403 consists of a 24-bit counter and the “PLL-CLK” is 1millisecond, then one cycle of the clock will be 4.66 hours. In thiscase, the radio time “WTIME” output from the radio time generating unit403 will be the 24-bit data having a value falling within a range of(000000˜FFFFFF) in the hexagonal expression. In the synchronouscommunication of a frequency-hopping type, when the master apparatus andthe slave apparatus are linked together, the radio time “WTIME” is sentfrom the master apparatus to the slave apparatus. Then, the clock of theslave apparatus is synchronized in phase by means of “PLL-CLK”, and theradio time “WTIME” is shared between the master and slave apparatuses,whereby the frequency to be hopped next is uniquely determined based onthe radio time “WTIME” both in the master and slave apparatuses.Therefore, as far as the master and slave apparatuses share the currenttime and are linked together based on the radio time “WTIME”, acompletely coincident time is maintained both in the master and slaveapparatuses.

In the master mode, PLL circuit 404 operates in accordance with ahigh-precision clock signal supplied from TCXO 406 to output the clock“PLL-CLK” synchronized with TCXO 406. In the slave mode, PLL circuit 404is controlled its operation timing in accordance with a receipt-timingsignal “RXT” supplied from RX timing extracting unit 405, and outputsthe clock “PLL-CLK” synchronized with the receipt-timing signal “RXT”.The clock “PLL-CLK” contains allowable fine jitters (around 10 microseconds).

In the slave mode, RX timing extracting unit 405 receives a signal fromRF unit 402 and extracts the receipt-timing signal “RXT” from thereceived signal to supply the same signal “RXT” to PLL circuit 404. TCXO406 supplies the high-precision clock signal to PLL circuit 404.

The controlling unit 407 supplies BB unit 401 with the data “DATA” to besent thereto and receives the received data “DATA” from BB unit 401. Thecontrolling unit 407 controls the operations of the BB unit 401, RF unit402, and the radio time generating unit 403. The controlling unit 407generates the radio synchronizing signal “WSYC” based on the clock“PLL-CLK” supplied from PLL circuit 404 and the radio time “WTIME”supplied from the radio time generating unit 403. This radiosynchronizing signal “WSYC” is used to synchronize with the otherapparatuses, which are connected by the radio synchronous communication.

More particularly, the radio communication unit 208 (308) fixes thesynchronization of the clock “PLL-CLK” as well as the synchronization ofthe radio time “WTIME” through the negotiation for establishing thesynchronous communication with the corresponding (or “n” unit of) radiocommunication units. After the synchronous communication has beenestablished between the radio communication units, the controlling unit407 generates the radio synchronizing signal “WSYC” of a predeterminedcycle at a predetermined rising timing, based on the clock “PLL-CLK”supplied from PLL circuit 404 and the radio time “WTIME” supplied fromthe radio time generating unit 403.

In the master mode, both the radio frequency signal output from RF unit402 and the radio synchronizing signal “WSYC” output from thecontrolling unit 407 are controlled in their outputting timings by theclock “PLL-CLK”, which is synchronized with the high-precision clocksignal supplied from the TCXO 406. Meanwhile, in the slave mode, boththe radio frequency signal output from RF unit 402 and the radiosynchronizing signal “WSYC” output from the controlling unit 407 arecontrolled in their outputting timings by the clock “PLL-CLK”, which issynchronized with the receipt-timing signal “RXT”. One radiocommunication unit set in the master mode can be wirelessly connectedwith plural radio communication units set in the slave mode.

FIG. 5a is a block diagram of a configuration of the sensor unit 301used in the sensor device 103 according to the embodiment of theinvention. FIG. 5b is a conceptual diagram for explaining relationshipsbetween the sensor data and operating directions of the sensor device103. The sensor unit 301 consists of, for example, a three axialacceleration sensor 500 and a three axial gyro-sensor 510. The sensordevice 103 is attached on the arm, leg and/or the body of the player(object) and on the equipment (golf club, tennis racket, baseball batand the like) held by the player.

The three axial acceleration sensor 500 consists of sensor elements 501,502, 503 and AD converter 504. The sensor elements 501, 502, and 503detect accelerations respectively in the directions of AX, AY, and AZ,when the object or the equipment moves in a three dimensional space, asshown in FIG. 5b . AD converter 504 converts signals outputs from thesensor elements 501, 502, 503 into digital data, and supplies thedigital data to HOST-CPU 302.

The three axial gyro-sensor 510 consists of sensor elements 511, 512,513 and AD converter 514. The sensor elements 511, 512, and 513 detectangular rates respectively in the directions of AX, AY, and AZ, when theobject or the equipment turns in the three dimensional space, as shownin FIG. 5b . AD converter 504 converts signals outputs from the sensorelements 511, 512, 513 into digital data, and supplies the digital datato HOST-CPU 302.

HOST-CPU 302 obtains the data “DATA” from the sensor unit 301 insynchronization with the synchronizing signal “WSYNC”. Meanwhile, evenif the data “DATA” has been obtained out of synchronization, the data“DATA” will be managed (stored or sent) together with time informationsynchronized with the synchronizing signal “WSYNC” at the time when saiddata “DATA” has been obtained.

FIG. 6 is a block diagram of a schematic configuration of the radiosynchronization system 100 according to the present embodiment of theinvention. As shown in FIG. 6, the radio synchronization system 100establishes a framework of a star type, comprising one master apparatus(high-speed camera 101 a) and plural slave apparatuses (high-speedcameras 101 b, 101 c, and sensor devices 103 a, 103 b). The masterapparatus or the high-speed camera 101 a and the slave apparatuses orthe high-speed cameras 101 b, 101 c, and the sensor devices 103 a, 103 boperate in synchronization with the radio synchronizing signals “WSYNC”,which are produced by the radio communication units 208 a, 208 b, 208 c,308 a and 308 b in accordance with the synchronous communication.

In other words, when a user operates the master apparatus or thehigh-speed camera 101 a, various sorts of setting information istransferred from the master apparatus or the high-speed camera 101 a tothe slave apparatuses or the high-speed cameras 101 b, 101 c, and thesensor devices 103 a, 103 b, wherein the setting information includesstarting and finishing times of a shooting operation and obtainingsensor data, a shooting frame rate, a data obtaining rate, and the like.

In the high-speed cameras 101 a, 101 b, 101 c, the video synchronizingsignal generating unit 210 a, 210 b, 210 c generate the videosynchronizing signals “VSYNC”, “HSYNC”, “VTRG” in synchronization withthe radio synchronizing signals “WSYNC” of the radio communication units208 a, 208 b, 208 c. The image pickup units 201 a, 201 b, 201 c obtainpickup images in accordance with the video synchronizing signals“VSYNC”, “HSYNC”, “VTRG”. In the sensor devices 103 a, 103 b, HOST-CPU302 a, 302 b obtain the sensor data “DATA” from the sensor units 301 a,301 b in synchronization with the radio synchronizing signals “WSYNC” ofthe radio communication units 308 a, 308 b.

The radio synchronization system 100 of the above describedconfiguration allows the high-speed cameras 101 a, 101 b, 101 c toperform the high-speed shooting operations in synchronization and alsoallows the sensor devices 103 a, 103 b to collect the sensor data “DATA”in synchronization. Further, since the high-speed cameras 101 a, 101 b,101 c and the sensor devices 103 a, 103 b operate in synchronization, itis possible to synchronize the pickup images obtained by the high-speedshooting operations of the high-speed cameras 101 a, 101 b, 101 c withthe sensor data “DATA” collected by the sensor devices 103 a, 103 b.

OPERATION OF EMBODIMENT

Hereinafter, the following synchronous operations will be described: A.Synchronous operation between the high-speed cameras 101 (synchronousshooting operation); B. Synchronous operation between the sensor devices103 (synchronous sensor-data collection); C. Synchronous operationbetween the high-speed cameras 101 and the sensor devices 103(synchronization of the shooting operation and the sensor-datacollection); D. Synchronous operation between the high-speed cameras 101and the sensor devices 103 (operation of correlating the sensor-datawith a moving image); E. Synchronous operation between the high-speedcameras 101 (synchronous playing-back operation); and F. Synchronousoperation between the high-speed cameras 101 and the sensor devices 103(synchronous playing-back operation).

A. Synchronous Operation Between High-Speed Cameras (SynchronousShooting Operation)

FIG. 7 is a conceptual diagram for explaining the synchronous operationbetween the high-speed cameras 101 according to the present embodimentof the invention. In FIG. 7, only the elements are shown, which arerequired for performing the synchronous operation. In FIG. 7, thehigh-speed camera 101 a operates as the master apparatus and thehigh-speed cameras 101 b, 101 c operate as the slave apparatuses.

In the high-speed camera 101 a, the radio communication unit 208 aoutputs the radio synchronizing signal “WSYNC”, which is synchronized inphase (or coincident at an edge timing) with the radio synchronouscommunication performed by the radio communication units 208 b, 208 c ofthe high-speed cameras 101 b, 101 c. The video synchronizing signalgenerating unit 210 a generates the video synchronizing signals “VSYNC”,“HSYNC”, “VTRG” having a predetermined cycle and synchronized with theabove radio synchronizing signal “WSYNC”, wherein the generated videosynchronizing signals are synchronized with those generated by thehigh-speed cameras 101 b, 101 c. The image pickup unit 201 a shoots(records) a moving image synchronized with those to be shot by the otherimage pickup units 201 b, 201 c in accordance with the above videosynchronizing signals “VSYNC”, “HSYNC”, “VTRG”.

Meanwhile, similarly to the high-speed camera 101 a, in the high-speedcameras 101 b, 101 c, the radio communication units 208 b, 208 c outputthe radio synchronizing signals “WSYNC”, which are synchronized in phase(or coincident at the edge timing) with the radio synchronouscommunication performed by the radio communication unit 208 a of thehigh-speed cameras 101 a. The video synchronizing signal generatingunits 210 b, 210 c generate the video synchronizing signals “VSYNC”,“HSYNC”, “VTRG” having a predetermined cycle and synchronized with theabove radio synchronizing signal “WSYNC”, wherein the generated videosynchronizing signals are synchronized with those generated by thehigh-speed cameras 101 a. The image pickup units 201 b, 201 c shoot(record) moving images synchronized with the moving image to be shot bythe high-speed camera 101 a in accordance with the above videosynchronizing signals “VSYNC”, “HSYNC”, “VTRG”.

As a result, the high-speed camera 101 a operating as the masterapparatus and the high-speed cameras 101 b, 101 c operating as the slaveapparatuses make the image pickup units 201 a, 201 b, 201 c shoot movingimages, which are synchronized in phase with each other (that is, themoving images, which are coincident in the horizontal and (or) verticalsynchronizing signals), through operations of the radio communicationunits 208 a, 208 b, 208 c and the image-synchronizing signal generatingunits 210 a, 210 b, 210 c.

In the master apparatus or the high-speed camera 101 a and the slaveapparatuses or the high-speed cameras 101 b, 101 c, HOST-CPU 205 a, 205b, 205 c (not shown) synchronize the real times counted by RTC 207 a,207 b, 207 c (not shown) with the radio synchronizing signals “WSYNC”,and correlate the real times with the moving images, respectively,whereby each HOST-CPU records the real time correlated with the movingimage. As a result, the master apparatus or the high-speed camera 101 aand the slave apparatuses or the high-speed cameras 101 b, 101 c eachcan simultaneously record the real time synchronized with the real timecounted by the other cameras, together with the moving image.

B. Synchronous Operation Between Sensor Devices (Synchronous Sensor-DataCollection)

FIG. 8 is a conceptual diagram for explaining the synchronous operation(synchronous sensor-data collection) between the sensor devices 103according to the present embodiment of the invention. In FIG. 8, onlythe elements are shown, which are required for performing thesynchronous operation between the sensor devices 103. In FIG. 8, thesensor device 103 a operates as the master device and the sensor device103 b operates as the slave device.

In the sensor device 103 a, the radio communication unit 308 a outputsthe radio synchronizing signal “WSYNC”, which is synchronized in phase(or coincident at the edge timing) with the radio synchronouscommunication performed by the radio communication unit 308 b of thesensor device 103 b.

Meanwhile, similarly to the sensor device 103 a, in the sensor device103 b, the radio communication unit 308 b outputs the radiosynchronizing signal “WSYNC”, which is synchronized in phase (orcoincident at the edge timing) with the radio synchronous communicationperformed by the radio communication unit 308 a of the sensor device 103a. HOST-CPU 302 a, 302 b of the sensor devices 103 a, 103 b obtain andrecord the sensor data “DATA” from the sensor unit 301 a, 301 b inpredetermined cycles synchronized with the above radio synchronizingsignals “WSYNC”, respectively.

As a result, in the sensor devices 103 a, 103 b, HOST-CPU 302 a, 302 bcan obtain the sensor data “DATA”, which is synchronized in phase (or,which is coincident in sensing timing) with the other sensor device,through the operations of the radio communication units 308 a, 308 b.

In the sensor devices 103 a, 103 b, HOST-CPU 302 a, 302 b synchronizethe real times counted by RTC 303 a, 303 b (not shown) with the radiosynchronizing signals “WSYNC” output from the radio communication units308 a, 308 b, respectively, and correlate the synchronized real timeswith the obtained sensor data “DATA”, thereby recording the sensor data“DATA” correlated with the synchronized real times. As a result, thesensor devices 103 a, 103 b can simultaneously record the sensor data“DATA” together with the real time synchronized with the real timecounted by the other sensor device.

It is possible for HOST-CPU 302 a, 302 b to generate sensorsynchronizing signals of a predetermined cycle, synchronized with theradio synchronizing signal “WSYNC”, respectively, thereby obtaining thesensor data “DATA” from the sensor units 301 a, 301 b in synchronizationwith the sensor synchronizing signals and recording the obtained data,wherein the sensor synchronizing signal is a signal having a differentcycle (integral multiple of cycle), and synchronized with the radiosynchronizing signal “WSYNC”.

C. Synchronous Operation Between High-Speed Cameras and Sensor Devices(Synchronization of Shooting Operation and Sensor-Data Collection)

FIG. 9 is a conceptual diagram for explaining the synchronous operation(synchronous sensor-data collection) between the high-speed camera 101 aand the sensor devices 103 according to the present embodiment of theinvention. In FIG. 9, the high-speed camera 101 a operates as the masterapparatus and the sensor devices 103 a, 103 b operate as the slavedevices. The high-speed camera 101 a operates substantially in the samemanner as described in the section of “A. Synchronous Operation betweenHigh-speed Cameras (synchronous shooting operation)”, and its furtherdescription will be omitted herein. The sensor devices 103 a, 103 boperate substantially in the same manner as described in the section of“B. Synchronous Operation between Sensor Devices (synchronoussensor-data collection)”, and their further description will be omittedherein, too.

In this case, the high-speed camera 101 a operates as the masterapparatus, and the image pickup units 201 a of the high-speed camera 101a can shoot a moving image, which is synchronized in phase with thesensor devices 103 a, 103 b (that is, the moving image, which iscoincident in the horizontal and (or) vertical synchronizing signal),through operations of the radio communication unit 208 a and the videosynchronizing signal generating units 210 a.

In the high-speed camera 101 a operating as the master apparatus,HOST-CPU 205 a (not shown) synchronizes the real time counted by RTC 207a (not shown) with the radio synchronizing signal “WSYNC”, andcorrelates the real time with the moving image, recording the real timecorrelated with the moving image. As a result, the master apparatus orthe high-speed camera 101 a can record the real time synchronized withthe sensor devices 103 a, 103 b, together with the moving image.

Further, in the sensor devices 103 a, 103 b, HOST-CPU 302 a, 302 b canobtain the sensor data “DATA”, which is synchronized in phase (or, whichis coincident in sensing timing) with the high-speed camera 101 a,through the operations of the radio communication units 308 a, 308 b.

Further, in the sensor devices 103 a, 103 b, HOST-CPU 302 a, 302 bsynchronize the real times counted by RTC 303 a, 303 b (not shown) withthe radio synchronizing signal “WSYNC”, and correlate the real timeswith the obtained sensor data “DATA”, respectively, whereby eachHOST-CPU records the real time correlated with the obtained sensor data“DATA”. As a result, the sensor devices 103 a, 103 b can simultaneouslyrecord the real time synchronized in time with the high-speed camera 101a, together with the sensor data “DATA”.

It is possible for HOST-CPU 302 a, 302 b to generate the sensorsynchronizing signals of a predetermined cycle, synchronized with theradio synchronizing signal “WSYNC”, respectively, thereby obtaining thesensor data “DATA” from the sensor units 301 a, 301 b in synchronizationwith the sensor synchronizing signals and recording the obtained data,wherein the sensor synchronizing signal is a signal having a differentcycle (integral multiple of cycle), and synchronized with the radiosynchronizing signal “WSYNC”.

D. Synchronous Operation Between High-Speed Cameras and Sensor Devices(Operation of Correlating the Sensor-Data with the Moving Image)

FIG. 10 is a conceptual diagram for explaining the synchronous operation(synchronous recording operation of pickup image and sensor data)between the high-speed cameras 101 and the sensor devices 103 accordingto the present embodiment of the invention. In FIG. 10, the high-speedcamera 101 a operates as the master apparatus and the sensor devices 103a, 103 b operate as the slave devices.

In the sensor devices 103 a, 103 b, HOST-CPU 302 a, 302 b synchronizethe real times counted by RTC 303 a, 303 b (not shown) with the radiosynchronizing signal “WSYNC”, and correlate the real time with theobtained sensor data “DATA”, recording the sensor data “DATA” correlatedwith the real time. Further, HOST-CPU 302 a, 302 b send the high-speedcamera 101 a the obtained sensor data “DATA” together with thecorrelated real time (data obtaining time) at a predetermined sendingtiming (or at a real time) through the radio communication units 308 a,308 b. Or in response to a request from the high-speed camera 101 a,HOST-CPU 302 a, 302 b send the high-speed camera 101 a the obtainedsensor data “DATA” together with the correlated real time (dataobtaining time).

Meanwhile, in the high-speed camera 101 a, the radio communication units208 a outputs the radio synchronizing signal “WSYNC”, which issynchronized in phase (or coincident at the edge timing) with the radiosynchronous communication performed by the radio communication units 308a, 308 b of the sensor devices 103 a, 103 b. The video synchronizingsignal generating unit 210 a generates the video synchronizing signals“VSYNC”, “HSYNC”, “VTRG” having a predetermined cycle and synchronizedwith the above radio synchronizing signal “WSYNC”, wherein the videosynchronizing signals are synchronized with the sensor devices 103 a,103 b. The image pickup units 201 a shoots a moving image synchronizedwith the sensor data obtained by the sensor devices 103 a, 103 b inaccordance with the above video synchronizing signals “VSYNC”, “HSYNC”,“VTRG”.

HOST-CPU 205 a synchronizes the real time counted by RTC 207 a (notshown) with the radio synchronizing signal “WSYNC”, and correlates thereal time with the shot moving image, recording the moving imagecorrelated with the real time in the memory 204 a. Meanwhile, the radiocommunication unit 208 a receives the sensor data “DATA” from the sensordevices 103 a, 103 b. HOST-CPU 205 a compares the real times correlatedwith the moving images with the real time correlated with the sensordata “DATA”, and records in the memory 204 a the sensor data “DATA”together with the moving image (frame data), whose real time coincideswith that of said sensor data “DATA”.

As a result, the sensor devices 103 a, 103 b can send the high-speedcamera 101 a the sensor data “DATA” synchronized in phase at a sensingtiming with the high-speed camera 101 a, and the high-speed camera 101 aoperating as the master apparatus receives the sensor data “DATA” sentfrom plural sensor devices 103 a, 103 b to record the sensor datatogether with the moving image.

The high-speed camera 101 a operating as the master apparatus cansimultaneously record the real time synchronized in time with the sensordevices 103 a, 103 b, together with the moving image.

The sensor devices 103 a, 103 b operating as the slave devices cansimultaneously record the real time synchronized in time with thehigh-speed camera 101 a together with the sensor data “DATA”.

The high-speed camera 101 a operating as the master apparatus can recordthe sensor data “DATA” obtained from the sensor devices 103 a, 103 b,together with the moving image (frame data), whose real time coincideswith the real time of said sensor data “DATA”.

E. Synchronous Operation Between High-Speed Cameras (SynchronousPlaying-Back Operation)

FIG. 11 is a conceptual diagram for explaining the synchronous operation(synchronous playing-back operation) between the plural high-speedcameras 101 according to the present embodiment of the invention. InFIG. 11, only the elements are shown, which are required for performingthe synchronous operation. In FIG. 11, the high-speed camera 101 aoperates as the master apparatus and the high-speed cameras 101 b, 101 coperate as the slave apparatuses.

In the high-speed camera 101 a, the radio communication unit 208 aoutputs the radio synchronizing signal “WSYNC”, which is synchronized inphase (or coincident at the edge timing) with the radio synchronouscommunication performed by the radio communication units 208 b, 208 c ofthe high-speed cameras 101 b, 101 c. The video synchronizing signalgenerating unit 210 a generates the video synchronizing signals “VSYNC”,“HSYNC”, “VTRG” having a predetermined cycle and synchronized with theabove radio synchronizing signal “WSYNC”, wherein the videosynchronizing signals are synchronized with those generated by thehigh-speed cameras 101 b, 101 c. The image pickup unit 201 a shoots amoving image synchronized with those to be shot by the other imagepickup units 201 b, 201 c in accordance with the above videosynchronizing signals “VSYNC”, “HSYNC”, “VTRG”, and records the movingimage in the memory 204 a.

Meanwhile, similarly to the high-speed camera 101 a, in the high-speedcameras 101 b, 101 c, the radio communication units 208 b, 208 c outputthe radio synchronizing signals “WSYNC”, which are synchronized in phase(or coincident at the edge timing) with the radio synchronouscommunication performed by the radio communication unit 208 a of thehigh-speed cameras 101 a. The video synchronizing signal generatingunits 210 b, 210 c generate the video synchronizing signals “VSYNC”,“HSYNC”, “VTRG” having a predetermined cycle and synchronized with theabove radio synchronizing signals “WSYNC”, wherein the videosynchronizing signals are synchronized with those generated in thehigh-speed camera 101 a. The image pickup units 201 b, 201 c shootmoving images synchronized with the moving image to be shot by thehigh-speed camera 101 a in accordance with the above video synchronizingsignals “VSYNC”, “HSYNC”, “VTRG”, and record the moving images in thememories 204 b, 204 c, respectively.

Further, in the high-speed camera 101 a operating as the masterapparatus and the high-speed cameras 101 b, 101 c operating as the slaveapparatuses, HOST-CPU 205 a, 205 b, 205 c synchronize the real timescounted by RTC 207 a, 207 b, 207 c (not shown) with the radiosynchronizing signals “WSYNC”, and correlate the real times with theshot moving images, recording the real times correlated with the movingimages in the memories 204 a, 204 b, 204 c, respectively.

When playing back the moving images recorded in the memories 204 a, 204b, 204 c in the high-speed camera 101 a operating as the masterapparatus and in the high-speed cameras 101 b, 101 c operating as theslave apparatuses, the following conditions are previously set based onthe real times correlated with said moving images, before the playingback operation is performed: (1) from which frames of the moving imagesare to be played back; and (2) at what point of the real times countedby RTC 207 a, 207 b, 207 c (not shown) the playing back operation is tostart.

In the playing back operation, the radio communication unit 208 a of thehigh-speed camera 101 a operating as the master apparatus establishesthe radio synchronous communication with the radio communication units208 b, 208 c of the high-speed cameras 101 b, 101 c operating as theslave apparatuses. Then, HOST-CPU 205 a, 205 b, 205 c read the movingimages respectively from the memories 204 a, 204 b, 204 c, in accordancewith the video synchronizing signals “VSYNC”, “HSYNC”, “VTRG” and thereal times counted by RTC 207 a, 207 b, 207 c (not shown), wherein theabove video synchronizing signals “VSYNC”, “HSYNC”, “VTRG” have apredetermined cycle and are synchronized with the above radiosynchronizing signals “WSYNC”, which are synchronized with in phase (orcoincident at the edge timing), and are further synchronized with thevideo synchronizing signals generated by the other cameras. Further,HOST-CPU 205 a, 205 b, 205 c display the above moving imagesrespectively on the displaying units 203 a, 203 b, 203 c insynchronization with the other cameras.

As a result, in the high-speed camera 101 a operating as the masterapparatus and the high-speed cameras 101 b, 101 c operating as the slaveapparatuses, HOST-CPU 205 a, 205 b, 205 c can play back the movingimages, which are synchronized in phase with each other (that is, themoving images, which are coincident in the horizontal and (or) verticalsynchronizing signals), through operations of the radio communicationunits 208 a, 208 b, 208 c and the video synchronizing signal generatingunits 210 a, 210 b, 210 c.

Further, in the master apparatus or the high-speed camera 101 a and theslave apparatuses or the high-speed cameras 101 b, 101 c, HOST-CPU 205a, 205 b, 205 c synchronize the real times counted by RTC 207 a, 207 b,207 c (not shown) with the radio synchronizing signal “WSYNC”, andcorrelate the real times with the moving images, respectively, wherebyeach HOST-CPU records the moving image correlated with the real time. Asa result, the master apparatus or the high-speed camera 101 a and theslave apparatuses or the high-speed cameras 101 b, 101 c each cansimultaneously record the synchronized real time together with themoving image.

Accordingly, the high-speed camera 101 a or the master apparatus and thehigh-speed cameras 101 b, 101 c or the slave apparatuses can play backthe moving images recorded respectively in the memories 204 a, 204 b,204 c in synchronization with each other, based on the real timescorrelated with said moving images recorded in the memories 204 a, 204b, 204 c.

F. Synchronous Operation Between High-Speed Cameras and Sensor Devices(Synchronous Playing-Back Operation).

FIG. 12 is a conceptual diagram for explaining the synchronous operationbetween the high-speed cameras 101 and the sensor devices 103(synchronous play-back operation of moving image and sensor data)according to the present embodiment of the invention. In FIG. 12, thehigh-speed camera 101 a operates as the master apparatus and the sensordevices 103 a, 103 b operate as the slave devices.

In the sensor devices 103 a, 103 b, HOST-CPU 302 a, 302 b synchronizethe real times counted by RTC 303 a, 303 b (not shown) with the radiosynchronizing signals “WSYNC”, and correlate the real times with theobtained sensor data “DATA”, whereby each HOST-CPU records the real timecorrelated with the sensor data “DATA”. Further, HOST-CPU 302 a, 302 bsend the high-speed camera 101 a the obtained sensor data “DATA”together with the real times (data obtaining time) correlated therewithat a predetermined sending timing (or at a real time) through the radiocommunication units 308 a, 308 b. Or in response to the request from thehigh-speed camera 101 a, HOST-CPU 302 a, 302 b send the high-speedcamera 101 a the obtained sensor data “DATA” together with thecorrelated real time (data obtaining time).

In the high-speed camera 101 a operating as the master apparatus, withthe radio synchronous communication established between the radiocommunication unit 208 a and the sensor devices 103 a, 103 b, HOST-CPU205 a displays on the displaying units 203 a the above moving image shotby the image pickup units 201 a, in accordance with the videosynchronizing signals “VSYNC”, “HSYNC”, “VTRG” synchronized with theradio synchronizing signal “WSYNC”, wherein said radio synchronizingsignal “WSYNC” is synchronized in phase (or coincident at the edgetiming) with the above radio synchronous communication.

At this time, HOST-CPU 205 a receives the sensor data “DATA” from sensordevices 103 a, 103 b through the radio communication unit 208 a, anddisplays the received sensor data “DATA” on the displaying unit 203 a insynchronization with the above moving image in accordance with the realtime recorded in correlation with said sensor data “DATA”.

As a result, the sensor devices 103 a, 103 b can send the high-speedcamera 101 a the sensor data “DATA” synchronized in phase (or coincidentat a sensing timing) with the high-speed camera 101 a. The high-speedcamera 101 a operating as the master apparatus receives the sensor data“DATA” sent from plural sensor devices 103 a, 103 b and can play backthe sensor data “DATA” in synchronization with the shot moving image.

The timing of playing back the moving image together with the receivedsensor data will do anytime (for instance, the next day and/orthereafter) after a moving image has been shot and the sensor data“DATA” has been received. Further, the moving image can be played backwhile said moving image is being shot, in other words, in practice, themoving image is played back late about 10 milliseconds at the earliestafter said moving image is actually shot, because there causes a delaybefore the moving image is played back together with the received sensordata “DATA”.

The sensor data “DATA” to be played back by the high-speed camera 101 acan be live data or processed data.

FIGS. 13a and 13b are conceptual diagrams for explaining datasending/receiving operation performed between the radio communicationunit 208 a of the high-speed camera 101 a and the radio communicationunit 208 b of the high-speed camera 101 b according to the presentembodiment of the invention. In FIG. 13a , the radio synchronizationsystem 100 comprises one master apparatus or the high-speed camera 101 aand one slave apparatus or more or high-speed cameras 101 b, 101 c.

The master apparatus or the high-speed camera 101 a and the slaveapparatus or the high-speed camera 101 b establish the radio synchronouscommunication between their radio communication units 208 a and 208 b.Their radio communication units 208 a, 208 b generate the radiosynchronizing signals “WSYNC”, which are synchronized in phase (orcoincident at the edge timing) with the radio synchronous communication.HOST-CPU 205 a, 205 b shoot (or record) the moving images in accordancewith the radio synchronizing signals “WSYNC”, respectively.

FIG. 13b is a conceptual diagram for indicating a format of a packet tobe sent and/or received between the radio communication units 208 a and208 b according to the present embodiment of the invention. The packetconsists of an access code 600, a packet header 601 and a payloard 602.

FIG. 14 is a timing chart of data sending/receiving operation(continuous communication) performed between the radio communicationunit 208 a of the high-speed camera 101 a or the master apparatus andthe radio communication unit 208 b of the high-speed camera 101 b or theslave apparatus according to the present embodiment of the invention. Asshown by way of example in the timing chart of FIG. 14, both the radiosynchronizing signals “WSYNC” generated in the master apparatus or thehigh-speed camera 101 a and in the slave apparatus or the high-speedcamera 101 b rise up at a time of “T02” and thereafter, repeatedly riseup with a cycle of T1 seconds. The radio synchronizing signal “WSYNC” ofthe slave apparatus or the high-speed camera 101 b has jitters (of aboutseveral microseconds) and subtle difference from the radio synchronizingsignal “WSYNC” of the master apparatus or the high-speed camera 101 a.

FIG. 15 is a timing chart of data sending/receiving operation(intermittent communication) performed between the radio communicationunit 208 a of the high-speed camera 101 a or the master apparatus andthe radio communication unit 208 b of the high-speed camera 101 b or theslave apparatus according to the present embodiment of the invention. Asshown by way of example in the timing chart of FIG. 15, both the radiosynchronizing signals “WSYNC” generated in the master apparatus or thehigh-speed camera 101 a and in the slave apparatus or the high-speedcamera 101 b rise up at a time of “T02” and thereafter, repeatedly riseup with a cycle of T1 seconds.

The jitters and subtle difference included in the radio synchronizingsignal “WSYNC” of the slave apparatus or the high-speed camera 101 b(shown in FIG. 15) are larger in an allowable range than those includedin the radio synchronizing signal “WSYNC” used in case of the continuouscommunication shown in FIG. 14. An interval of data sensing/receivingoperation is set to an intermittent interval ( . . . T¼, T½, T1, 2×T1,4×T1, . . . ) allowable for the video synchronizing signal to saveenergy.

For instance, if the clock is ±20 ppm both in the master apparatus orthe high-speed camera 101 a and the slave apparatus or the high-speedcamera 101 b, a difference of ±40 microseconds, at worst, will be causedbetween the master and slave apparatuses in the radio synchronizingsignal “WSYNC”, when communication is interrupted for a period of onesecond. Therefore, it will be understood that communication is requiredat least once in a period of 250 milliseconds to bring such differenceinto a range of ±10 microseconds. In other words, when the high-speedcamera 101 a operating as the master apparatus communicates with thehigh-speed camera 101 b operating as slave apparatus at least once inthe period of 250 milliseconds, the synchronization can be establishedbetween the high-speed camera 101 a and the high-speed camera 101 b.

FIG. 16 is a conceptual diagram for explaining the datasending/receiving operation performed between the radio communicationunits 208 a, 208 b, 208 c in the case of one master apparatus(high-speed camera) vs. “n” units of slave apparatuses (high-speedcameras). The radio communication unit 208 a of the high-speed camera101 a (master apparatus) can be wirelessly connected to the plural radiocommunication units 208 b, 208 c of the high-speed cameras 101 b, 101 c(slave apparatuses). Even in the wireless connection including onemaster apparatus and “n” units of slave apparatuses, the masterapparatus and the slave apparatuses can be synchronized with each otherin the same manner as described in the section of “A. SynchronousOperation between High-speed Cameras (synchronous shooting operation)”.

FIG. 17 is a timing chart of the data sending/receiving operationperformed between the radio communication units 208 a, 208 b, 208 c inthe case of one master apparatus (high-speed camera) vs. “n” units ofslave apparatuses (high-speed cameras). The high-speed camera 101 aoperating as the master apparatus exchanges data with the high-speedcamera 101 b operating as the slave apparatus during a period from atime of “T00” to a time of “T02”, and also exchange data with thehigh-speed camera 101 c operating as the slave apparatus during a periodfrom the time of “T02” to a time of “T04”. In either of the high-speedcamera 101 a operating as the master apparatus and the high-speedcameras 101 b, 101 c operating as the slave apparatuses, the radiosynchronizing signals “WSYNC” shown by way of example in FIG. 17 rise upat the time of “T04”, and thereafter, repeatedly rise up with a cycle ofT1 seconds.

As described above, the embodiments of the invention allow pluralhigh-speed cameras to shoot moving images in synchronization and pluralsensor devices to obtain data in synchronization with the moving imagesshot by the plural high-speed cameras with a high degree of accuracy, inaddition to saving energy, and reducing in size and costs.

Employing the wireless system, the high-speed cameras and sensor devicescan be installed and/or provided on any places without disturbing theplayers and allow the users to enjoy greater flexibility and theconsumers to operate in a simple manner. As a result, the high-speedcameras and sensor devices according to the embodiments of the inventioncan be used for easy and accurate motion analysis in various fields ofsports including golf, tennis, baseball and the like.

The advantages of the embodiments of the invention will be describedmore particularly.

In the embodiment of the invention, when plural high-speed cameras areused for a high-speed shooting in motion analysis in various sports, theplural high-speed cameras can be synchronized to shoot one object fromplural angles.

Further in the embodiment of the invention, the image shootings by thehigh-speed cameras and the operations of the sensor devices attached onthe object and (or) on the equipment can be synchronized with eachother.

In the embodiment of the invention, the real time is shared among theplural high-speed cameras and the plural sensor devices wirelesslysynchronized with each other, and the real time, which is shared whenimages are shot and sensor data is obtained, can be recorded togetherwith the image data and sensor data.

Further, when obtaining the sensor data in synchronization with theimage shooting operation by the high-speed camera, the sensor device cansend the obtained sensor data to the high-speed camera, and thehigh-speed camera can record the received sensor data together with thepickup image.

In the radio synchronization system comprising plural high-speed camerasand sensor devices, all of which being wirelessly synchronized with eachother, and one of the high-speed cameras operating as the masterapparatus and the other cameras and devices operating as slaveapparatuses, the user can give an instruction of operation to all theapparatuses and devices in the radio synchronization system, only bygiving the master apparatus the instruction to be given to all the slaveapparatuses, wherein the instruction is to inform the starting/finishingtime of the shooting operation, the starting/finishing time of obtainingthe sensor data, a frame rate of shooting image, a data obtaining rate,and other setting information.

Further, in the radio synchronization system, the moving images shot insynchronization by plural high-speed cameras can be played back insynchronization by the plural high-speed cameras, when an instruction isgiven to one high-speed camera operating as the master apparatus.

Further, the sensor data obtained in synchronization with and storedtogether with the moving images in the high-speed cameras can bedisplayed in synchronization with reproduction of the moving image.

In the case where a pickup image is stored in one high-speed cameraoperating as the master apparatus and sensor data obtained insynchronization are stored in plural sensor devices, when an instructionis given to the high-speed camera operating as the master apparatus, thesensor data can be transferred from the plural sensor devices to thehigh-speed camera operating as the master apparatus. The high-speedcamera operating as the master apparatus can display the received sensordata in synchronization with reproduction of the pickup image, and alsocan store the received sensor data.

Further, in the radio synchronization system, the high-speed shootingoperations by the high-speed cameras and the operation of obtaining thesensor data by the sensor devices are synchronized with each other, andfurther the pickup images and the sensor data are correlated with thereal time, which has been shared between the high-speed cameras and thesensor devices. Therefore, the pickup image corresponding to a time of aparticular point of the sensor data can be chosen after the shootingoperation finishes.

Although specific embodiments of the invention have been described inthe foregoing detailed description, it will be understood that theinvention is not limited to the particular embodiments described herein,modifications and rearrangements may be made to the disclosedembodiments while remaining within the scope of the invention as definedby the following claims. It is intended to include all suchmodifications and rearrangements in the following claims and theirequivalents.

What is claimed is:
 1. A wireless synchronous system comprising: a firstapparatus; a second apparatus; and a sensor device; wherein the firstapparatus comprises: a first radio communicating circuit which performssynchronous radio communication with the second apparatus via a firstantenna, wherein the first radio communicating circuit generates andoutputs a first radio synchronizing signal having a predetermined cyclewhich is synchronized with a timing of the synchronous communication, atleast one of a rising edge and a falling edge of the first radiosynchronizing signal coinciding with a rising edge or a falling edge ofa clock signal of the second apparatus; and a first processor whichreceives the first radio synchronizing signal from the first radiocommunicating circuit and determines a timing of controlling the firstapparatus in accordance with the first radio synchronizing signal; andwherein the sensor device comprises: a second radio communicatingcircuit which performs synchronous radio communication with the firstapparatus via a second antenna, wherein the second radio communicatingcircuit generates and outputs a second radio synchronizing signal havinga predetermined cycle which is synchronized with a timing of thesynchronous communication, at least one of a rising edge and a fallingedge of the second radio synchronizing signal coinciding with a risingedge or a falling edge of a clock signal of the first apparatus; asensor which obtains detection-data representing a state of the sensordevice; and a second processor which receives the second radiosynchronizing signal from the second radio communicating circuit anddetermines a timing of obtaining the detection-data via the sensor inaccordance with the second radio synchronizing signal; wherein the firstapparatus further comprises: an image pickup unit including an imagesensor operable to take an image to obtain image data; a first memory;and a first real-time clock which generates a first real time signal;wherein the first processor determines a timing of taking an image bythe image pickup unit in accordance with the first radio synchronizingsignal, and performs control to store the image in the first memory;wherein the first processor synchronizes the first real time signal withthe first radio synchronization signal to synchronize the first realtime signal with a time signal in the second apparatus; and wherein thefirst processor correlates the first real time signal generated by thefirst real-time clock with the image data, which is obtained by theimage pickup unit at the timing determined by the processor, andperforms control to record the first real time signal correlated withthe image data in the first memory.
 2. The wireless synchronous systemaccording to claim 1, wherein the sensor device further comprises: asecond real-time clock which generates a second real time signal; and asecond memory; wherein the second processor synchronizes the second realtime signal with the second radio synchronization signal to synchronizethe second real time signal with a time signal in the first apparatus;and wherein the second processor correlates the second real time signalgenerated by the second real-time clock with the detection-data, whichis obtained by the sensor at the timing determined by the secondprocessor, and performs control to record the second real time signalcorrelated with the detection-data in the second memory.
 3. The wirelesssynchronous system according to claim 2, wherein: the second processorperforms control to send the obtained detection-data correlated with thesecond real time signal to the first apparatus; the first processorcorrelates the detection-data correlated with the second real timesignal and received by the first apparatus from the sensor device, withthe image data correlated with the first real time signal correspondingto the second real time signal, and performs control to record thedetection-data correlated with the image data in the first memory. 4.The wireless synchronous system according to claim 3, wherein the firstprocessor performs control to play back the detection-data received bythe first apparatus from the sensor device, in synchronization based onthe first real time signal and the second real time signal, when theimage data recorded in the first memory is played back insynchronization in accordance with the first radio synchronizing signal.5. The wireless synchronous system according to claim 1, wherein thefirst processor performs control to play back the image data recorded inthe first memory, in accordance with the first radio synchronizingsignal, the image data being correlated with the first real time signaland recorded in the first memory.
 6. The wireless synchronous systemaccording to claim 1, wherein the second radio communicating circuitperforms synchronous radio communication with another sensor device viathe second antenna, and generates and outputs the second radiosynchronizing signal to have a predetermined cycle which is synchronizedwith a timing of the synchronous communication with the other sensordevice, at least one of a rising edge and a falling edge of the secondradio synchronizing signal coinciding with a rising edge or a fallingedge of a clock signal of the other sensor device.
 7. A wirelessapparatus comprising: a radio communicating circuit which performssynchronous radio communication with an external wireless apparatus viaan antenna, wherein the radio communicating circuit generates andoutputs a radio synchronizing signal having a predetermined cycle whichis synchronized with a timing of the synchronous communication, at leastone of a rising edge and a falling edge of the radio synchronizingsignal coinciding with a rising edge or a falling edge of a clock signalof the external wireless apparatus; a processor which receives the radiosynchronizing signal from the radio communicating circuit and determinesa timing of controlling the apparatus, in accordance with the radiosynchronizing signal; an image pickup unit including an image sensoroperable to take an image to obtain image data; a memory; and areal-time clock which generates a real time signal; wherein theprocessor determines a timing of taking an image by the image pickupunit in accordance with the radio synchronizing signal, and performscontrol to store the image in the memory; wherein the processorsynchronizes the real time signal with the radio synchronization signalto synchronize the real time signal with a time signal in the externalwireless apparatus; and wherein the processor correlates the real timesignal generated by the real-time clock with the image data, which isobtained by the image pickup unit at the timing determined by theprocessor, and performs control to record the real time signalcorrelated with the image data in the first memory.
 8. A sensor devicecomprising: a radio communicating circuit which performs synchronousradio communication with an external wireless apparatus via an antenna,wherein the radio communicating circuit generates and outputs a radiosynchronizing signal having a predetermined cycle which is synchronizedwith a timing of the synchronous communication, at least one of a risingedge and a falling edge of the radio synchronizing signal coincidingwith a rising edge or a falling edge of a clock signal of the externalwireless apparatus; a sensor which obtains detection-data representing astate of the sensor device; a processor which receives the radiosynchronizing signal from the radio communicating circuit and determinesa timing of obtaining the detection-data via the sensor in accordancewith the radio synchronizing signal; a real-time clock which generates areal time signal; and a memory; wherein the processor synchronizes thereal time signal with the radio synchronization signal to synchronizethe real time signal with a time signal in the external wirelessapparatus; and wherein the processor correlates the real time signalgenerated by the real-time clock with the detection-data, which isobtained by the sensor at the timing determined by the processor, andperforms control to record the real time signal correlated with thedetection-data in the memory.
 9. A method of implementing wirelesssynchronization in a system including a first apparatus, a secondapparatus, and a sensor device, the method comprising: by the firstapparatus: performing, by a first radio communicating circuit,synchronous radio communication with the second apparatus; generating afirst radio synchronizing signal having a predetermined cycle which issynchronized with a timing of the synchronous communication, at leastone of a rising edge and a falling edge of the first radio synchronizingsignal coinciding with a rising edge or a falling edge of a clock signalof the second apparatus; and determining a timing of controlling thefirst apparatus, in accordance with the radio synchronizing signal; andby the sensor device: performing, by a second radio communicatingcircuit, synchronous radio communication with the first apparatus;generating a second radio synchronizing signal having a predeterminedcycle which is synchronized with a timing of the synchronouscommunication, at least one of a rising edge and a falling edge of thesecond radio synchronizing signal coinciding with a rising edge or afalling edge of a clock signal of the first apparatus; obtainingdetection-data representing a state of the sensor device; anddetermining a timing, at which the sensor unit obtains thedetection-data, in accordance with the second radio synchronizingsignal; wherein the first apparatus comprises (i) an image pickup unitincluding an image sensor operable to take an image to obtain imagedata, (ii) a first memory, and (iii) a first real-time clock whichgenerates a first real time signal; wherein determining the timing ofcontrolling the first apparatus comprises determining a timing of takingan image by the image pickup unit in accordance with the first radiosynchronizing signal; and wherein the method further comprises, by thefirst apparatus: storing the image in the first memory; synchronizingthe first real time signal with the first radio synchronization signalto synchronize the first real time signal with a time signal in thesecond apparatus; and correlating the first real time signal generatedby the first real-time clock with the image data, which is obtained bythe image pickup unit at the determined timing, and recording the firstreal time signal correlated with the image data in the first memory. 10.A non-transitory computer-readable recording medium storing a computerprogram which is executable by a computer to control an apparatus, theapparatus including an image pickup unit including an image sensoroperable to take an image to obtain image data, a memory, and areal-time clock which generates a real time signal, and the programbeing executable to control the apparatus to perform functionscomprising: performing, by a radio communicating circuit, synchronousradio communication with an external wireless apparatus; generating aradio synchronizing signal having a predetermined cycle which issynchronized with a timing of the synchronous communication, at leastone of a rising edge and a falling edge of the radio synchronizingsignal coinciding with a rising edge or a falling edge of a clock signalof the external wireless apparatus; determining a timing of taking animage by the image pickup unit in accordance with the radiosynchronizing signal, and storing the image in the memory; synchronizingthe real time signal with the radio synchronization signal tosynchronize the real time signal with a time signal in the externalwireless apparatus; and correlating the real time signal generated bythe real-time clock with the image data, which is obtained by the imagepickup unit at the determined timing, and recording the real time signalcorrelated with the image data in the memory.
 11. A non-transitorycomputer-readable recording medium storing a computer program which isexecutable by a computer to control a sensor device that includes areal-time clock which generates a real time signal, and a memory, theprogram being executable to control the sensor device to performfunctions comprising: performing, by a radio communicating circuit,synchronous radio communication with an external wireless apparatus;generating a radio synchronizing signal having a predetermined cyclewhich is synchronized with a timing of the synchronous communication, atleast one of a rising edge and a falling edge of the radio synchronizingsignal coinciding with a rising edge or a falling edge of a clock signalof the external wireless apparatus; obtaining detection-datarepresenting a state of the sensor device; determining a timing toobtain the detection-data in accordance with the radio synchronizingsignal; synchronizing the real time signal with the radiosynchronization signal to synchronize the real time signal with a timesignal in the external wireless apparatus; and correlating the real timesignal generated by the real-time clock with the detection-data, whichis obtained by the sensor at the determined timing, and recording thereal time signal correlated with the detection-data in the memory.